cmake_minimum_required(VERSION 2.8.3)
project(klt_feature_tracker)

unset(_CATKIN_CURRENT_PACKAGE)

# check if this is being built as a ROS package
if (CATKIN_DEVEL_PREFIX)
    set(CATKIN_BUILD 1)
    message(STATUS "Building ${PROJECT_NAME} as a catkin package")
else()
    set(CATKIN_BUILD 0)
    message(STATUS "Building ${PROJECT_NAME} without catkin")
endif()

if (CATKIN_BUILD)
    ## Find catkin macros and libraries
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS
      roscpp
      rospy
      std_msgs
      sensor_msgs
      geometry_msgs
      cv_bridge
      roslib
      message_generation
      message_runtime
      message_filters
    )

    ## System dependencies are found with CMake's conventions
    # find_package(Boost REQUIRED COMPONENTS system)


    ## Uncomment this if the package has a setup.py. This macro ensures
    ## modules and global scripts declared therein get installed
    ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
    # catkin_python_setup()

    ################################################
    ## Declare ROS messages, services and actions ##
    ################################################

    ## To declare and build messages, services or actions from within this
    ## package, follow these steps:
    ## * Let MSG_DEP_SET be the set of packages whose message types you use in
    ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
    ## * In the file package.xml:
    ##   * add a build_depend tag for "message_generation"
    ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
    ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
    ##     but can be declared for certainty nonetheless:
    ##     * add a run_depend tag for "message_runtime"
    ## * In this file (CMakeLists.txt):
    ##   * add "message_generation" and every package in MSG_DEP_SET to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * add "message_runtime" and every package in MSG_DEP_SET to
    ##     catkin_package(CATKIN_DEPENDS ...)
    ##   * uncomment the add_*_files sections below as needed
    ##     and list every .msg/.srv/.action file to be processed
    ##   * uncomment the generate_messages entry below
    ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

    ## Generate messages in the 'msg' folder
    # add_message_files(
    #   FILES
    #   Message1.msg
    #   Message2.msg
    # )

    ## Generate services in the 'srv' folder
    add_service_files(
      FILES
      TrackFeatures.srv
    )

    ## Generate actions in the 'action' folder
    # add_action_files(
    #   FILES
    #   Action1.action
    #   Action2.action
    # )

    ## Generate added messages and services with any dependencies listed here
    generate_messages(
      DEPENDENCIES
      std_msgs
      sensor_msgs
    )

    ################################################
    ## Declare ROS dynamic reconfigure parameters ##
    ################################################

    ## To declare and build dynamic reconfigure parameters within this
    ## package, follow these steps:
    ## * In the file package.xml:
    ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
    ## * In this file (CMakeLists.txt):
    ##   * add "dynamic_reconfigure" to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * uncomment the "generate_dynamic_reconfigure_options" section below
    ##     and list every .cfg file to be processed

    ## Generate dynamic reconfigure parameters in the 'cfg' folder
    # generate_dynamic_reconfigure_options(
    #   cfg/DynReconf1.cfg
    #   cfg/DynReconf2.cfg
    # )

    ###################################
    ## catkin specific configuration ##
    ###################################
    ## The catkin_package macro generates cmake config files for your package
    ## Declare things to be passed to dependent projects
    ## INCLUDE_DIRS: uncomment this if you package contains header files
    ## LIBRARIES: libraries you create in this project that dependent projects also need
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
      INCLUDE_DIRS include
      LIBRARIES klt_feature_tracker
    #  CATKIN_DEPENDS cv_bridge message_generation roscpp rospy std_msgs
    #  DEPENDS system_lib
    )
endif()

find_package(OpenCV REQUIRED)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(klt_feature_tracker
  src/trackFeatures.cpp
)

target_link_libraries(klt_feature_tracker
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_include_directories(klt_feature_tracker PUBLIC include)

set(${PROJECT_NAME}_INCLUDE_DIRS
    ${PROJECT_SOURCE_DIR}/include
    CACHE INTERNAL "${PROJECT_NAME}: Include Directories" FORCE)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(klt_feature_tracker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

if(CATKIN_BUILD)
    ## Declare a C++ executable
    add_executable(feature_tracker_node
      src/nodes/feature_tracker_node.cpp
    )

    ## Add cmake target dependencies of the executable
    ## same as for the library above
    add_dependencies(feature_tracker_node klt_feature_tracker ${PROJECT_NAME}_generate_messages_cpp)

    ## Specify libraries to link a library or executable target against
    target_link_libraries(feature_tracker_node
      klt_feature_tracker
      ${catkin_LIBRARIES}
    )
endif()

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS klt_feature_tracker klt_feature_tracker_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_klt_feature_tracker.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
